The CMAC Neurocontroller for efficient learning in visual servoing

被引：0
作者：
Reda, Kara [1 ]
Abdelhafidh, Moualdia [2 ]
Mounir, Bouhedda [1 ]
机构：
[1] Univ Medea, Lab Adv Elect Syst LSEA, Medea, Algeria
[2] Univ Medea, Dept Elect Engn, Medea, Algeria
来源：
PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON APPLIED SMART SYSTEMS (ICASS) | 2018年
关键词：
Visual servoing; CMAC; artificial neural network; robot manipulator<bold>; </bold>;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The use of vision has increased the capabilities of manipulator robots, making the problem of control more complex. Aimaing to pathway a target with a robot arm in Cartesien space involves to use precise commands. We propose a neural controller based on CMAC (Cerebellar Model Articulation Controller) networks in a visual servoing. This new structure splits the robot's workspace and assigns different CMAC controllers imposing thus specialized region CMAC. Then, the neurocontroller's sensitivity and precision is increased compared to a single CMAC with the same number of weights. Consequently, Robot positioning and target tracking with visual feedback can be done with a better precision.<bold> </bold>
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页数：5
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